Path synthesis of a finger-type gripping mechanism

In this paper, the path synthesis of a gripper-object mechanism with two rolling pairs is studied. The design equations of the mechanism used as a path generator are established. The dimension of set of admissible solutions in the kinematic synthesis is also discussed. It is shown that the design equations are transcendental and the optimization-based numerical technique is applied to solve the design equations. The synthesized solutions are illustrated to discuss the kinematic states of the mechanism. It is also shown that the optimization-based method is effective in finding the admissible synthesis solution of the mechanism.